System and method for delivery by autonomous vehicles

ABSTRACT

An AV receives a delivery request made by a user. The AV navigates to the user&#39;s location. The AV&#39;s onboard controller determines that the AV has arrived at the location. The onboard controller then commands the AV&#39;s motor to pause motion. The onboard controller provides the user an access to a delivery assembly in the AV. The onboard controller or the delivery assembly detects, by using sensors in the delivery assembly, whether an item has been removed from or placed into the container. Subsequent to detecting that the item has been removed from or placed into the container, the onboard controller commands the AV&#39;s motor to resume motion. The onboard controller or delivery assembly may also control a movable element in the container to allow the user to load or unload the item from a safe spot or control a divider in the container to protect the user&#39;s privacy.

CROSS REFERENCE TO RELATED APPLICATION

This application claims the benefit of U.S. Provisional PatentApplication No. 63/250,069, filed Sep. 29, 2021, which is incorporatedby reference its entirety.

TECHNICAL FIELD OF THE DISCLOSURE

The present disclosure relates generally to autonomous vehicles (AVs)and, more specifically, to systems and methods for autonomous deliveryby using such vehicles.

BACKGROUND

An AV is a vehicle that is capable of sensing and navigating itsenvironment with little or no user input. An autonomous vehicle maysense its environment using sensing devices such as Radio Detection andRanging (RADAR), Light Detection and Ranging (LIDAR), image sensors,cameras, and the like. An autonomous vehicle system may also useinformation from a global positioning system (GPS), navigation systems,vehicle-to-vehicle communication, vehicle-to-infrastructure technology,and/or drive-by-wire systems to navigate the vehicle. As used herein,the phrase “autonomous vehicle” includes both fully autonomous andsemi-autonomous vehicles.

BRIEF DESCRIPTION OF THE DRAWINGS

To provide a more complete understanding of the present disclosure andfeatures and advantages thereof, reference is made to the followingdescription, taken in conjunction with the accompanying figures, whereinlike reference numerals represent like parts, in which:

FIG. 1 shows an autonomous delivery environment according to someembodiments of the present disclosure;

FIG. 2 is a block diagram illustrating an online system according tosome embodiments of the present disclosure;

FIG. 3 is a block diagram illustrating an onboard controller of an AVaccording to some embodiments of the present disclosure;

FIG. 4 is a block diagram illustrating a delivery assembly of an AVaccording to some embodiments of the present disclosure;

FIG. 5 illustrates an example delivery assembly according to someembodiments of the present disclosure;

FIG. 6 illustrates another example delivery assembly according to someembodiments of the present disclosure;

FIGS. 7A-E are various views of a user interface (UI) module accordingto some embodiments of the present disclosure;

FIGS. 8A-B illustrate an example button of the UI module according tosome embodiments of the present disclosure;

FIG. 9 illustrates a UI according to some embodiments of the presentdisclosure;

FIG. 10 illustrates another UI according to some embodiments of thepresent disclosure;

FIG. 11 illustrates yet another UI according to some embodiments of thepresent disclosure;

FIG. 12 is a flowchart showing a process of delivering an item to a userby using an AV 110 according to some embodiments of the presentdisclosure;

FIG. 13 is a flowchart showing another process of delivering an item toa user by using an AV 110 according to some embodiments of the presentdisclosure;

FIG. 14 is a flowchart showing yet another process of delivering an itemto a user by using an AV 110 according to some embodiments of thepresent disclosure;

FIG. 15 is a flowchart showing a process of collecting an item from auser by using an AV 110 according to some embodiments of the presentdisclosure;

FIG. 16 is a flowchart showing another process of collecting an itemfrom a user by using an AV 110 according to some embodiments of thepresent disclosure; and

FIG. 17 is a flowchart showing yet another process of collecting an itemfrom a user by using an AV 110 according to some embodiments of thepresent disclosure.

DESCRIPTION OF EXAMPLE EMBODIMENTS OF THE DISCLOSURE Overview

The demand for contactless delivery robots has been rising. However,many contactless delivery robots cannot meet the rising demand due tohigh cost and technical challenges. For example, many contactlessdelivery robots are designed for delivering a particular type of itemand cannot be used to delivery different items. Also, these robots causesafety and privacy risks. Therefore, improved technology for autonomousdelivery is needed.

An autonomous delivery system including a delivery assembly secured inan AV overcomes these problems. The system uses localization andnavigation capabilities of the AV as well as safety and privacy featuresof the delivery assembly to provide a more advantageous autonomousdelivery method. The AV can navigate to delivery destinations andcontrol users' access to the delivery assembly by using its onboardsensors and onboard controller. For instance, the onboard controllerdetects whether the AV has arrived at the destination, opens a door ofthe AV after the AV has arrived, and closes the door after the delivereditem has been removed from or placed into the delivery assembly. In anexample where the AV parks on a street after it arrives at thedestination, the AV opens the curbside door (i.e., the door facing thecurb of the street), as opposed to the traffic-side door (i.e., the doorfacing the traffic on the street) to protect the safety of the user.

The delivery assembly is secured (e.g., removably secured) in the AV andfacilitates delivering items to users or picking up items from users byusing the AV. In some embodiments, the delivery assembly includes acontainer, a UI module, and a delivery controller. The containercontains the items within a secured space, e.g., during the AV's motion.The container can have various configurations to fit different types ofitems. The container may facilitate one or more safety features orprivacy features. For instance, a receptacle can be movably attached inthe container and be moved towards or away from the curbside door of theAV to provide the user easy access from a safe spot. The user does nothave to get into the AV or go to the traffic side of the AV to remove orplace an item that is far from the curbside door. The container may alsofacilitate a privacy feature (e.g., a divider) that prevents a user fromviewing items for a different user. The UI module provides informationof the delivery to the user and allows the user to provide input, e.g.,input for controlling the movable element.

The delivery controller manages the other components of the deliveryassembly. For instance, the delivery controller processes sensor datagenerated by sensors on the container to detect the state of the items,e.g., whether the items are present in the container, the physicalcondition of the items, etc. The delivery controller may instruct the UImodule to provide indicators (light, text, sound, etc.) to users toinform the user of the state of the items or to instruct the user toprovide input based on the state of the items. The delivery controllermay further command an actuator to move the movable element. Thedelivery controller may be connected to the onboard controller, e.g.,through a private connection. Some or all of the functionalityattributed to the delivery controller may be accomplished by the onboardcontroller of the AV 110. For example, the onboard controller mayprocess the sensor data to detect the state of the items and control thedoor based on the state of the items. As another example, the onboardcontroller may instruct the UI module to provide indicators associatedwith the state of the door.

The autonomous delivery system leverages the autonomous features of theAV such as autonomous localization, navigation, and door control. Also,it can provide safe and private delivery service by using the deliveryassembly. Further, the delivery assembly can be taken off from the AV sothat the AV can still be used for other purposes, e.g., rideshare. Bycombining the AV and the delivery assembly, the high cost and technicalchallenges for autonomous delivery can be reduced or even avoided. Also,the safety and privacy of users are better protected.

As will be appreciated by one skilled in the art, aspects of the presentdisclosure, in particular aspects of autonomous delivery, describedherein, may be embodied in various manners (e.g., as a method, a system,a computer program product, or a computer-readable storage medium).Accordingly, aspects of the present disclosure may take the form of anentirely hardware embodiment, an entirely software embodiment (includingfirmware, resident software, micro-code, etc.) or an embodimentcombining software and hardware aspects that may all generally bereferred to herein as a “circuit,” “module” or “system.” Functionsdescribed in this disclosure may be implemented as an algorithm executedby one or more hardware processing units, e.g., one or moremicroprocessors, of one or more computers. In various embodiments,different steps and portions of the steps of each of the methodsdescribed herein may be performed by different processing units.Furthermore, aspects of the present disclosure may take the form of acomputer program product embodied in one or more computer-readablemedium(s), preferably non-transitory, having computer-readable programcode embodied, e.g., stored, thereon. In various embodiments, such acomputer program may, for example, be downloaded (updated) to theexisting devices and systems (e.g., to the existing perception systemdevices or their controllers, etc.) or be stored upon manufacturing ofthese devices and systems.

The following detailed description presents various descriptions ofspecific certain embodiments. However, the innovations described hereincan be embodied in a multitude of different ways, for example, asdefined and covered by the claims or select examples. In the followingdescription, reference is made to the drawings where like referencenumerals can indicate identical or functionally similar elements. Itwill be understood that elements illustrated in the drawings are notnecessarily drawn to scale. Moreover, it will be understood that certainembodiments can include more elements than illustrated in a drawing or asubset of the elements illustrated in a drawing. Further, someembodiments can incorporate any suitable combination of features fromtwo or more drawings.

Other features and advantages of the disclosure will be apparent fromthe following description and the claims.

As described herein, one aspect of the present technology may be thegathering and use of data available from various sources to improvequality and experience. The present disclosure contemplates that in someinstances, this gathered data may include personal information. Thepresent disclosure contemplates that the entities involved with suchpersonal information respect and value privacy policies and practices.

The following disclosure describes various illustrative embodiments andexamples for implementing the features and functionality of the presentdisclosure. While particular components, arrangements, or features aredescribed below in connection with various example embodiments, theseare merely examples used to simplify the present disclosure and are notintended to be limiting. It will of course be appreciated that in thedevelopment of any actual embodiment, numerous implementation-specificdecisions must be made to achieve the developer's specific goals,including compliance with system, business, or legal constraints, whichmay vary from one implementation to another. Moreover, it will beappreciated that, while such a development effort might be complex andtime-consuming; it would nevertheless be a routine undertaking for thoseof ordinary skill in the art having the benefit of this disclosure.

In the Specification, reference may be made to the spatial relationshipsbetween various components and to the spatial orientation of variousaspects of components as depicted in the attached drawings. However, aswill be recognized by those skilled in the art after a complete readingof the present disclosure, the devices, components, members,apparatuses, etc. described herein may be positioned in any desiredorientation. Thus, the use of terms such as “above”, “below”, “upper”,“lower”, “top”, “bottom”, or other similar terms to describe a spatialrelationship between various components or to describe the spatialorientation of aspects of such components, should be understood todescribe a relative relationship between the components or a spatialorientation of aspects of such components, respectively, as thecomponents described herein may be oriented in any desired direction.When used to describe a range of dimensions or other characteristics(e.g., time, pressure, temperature, length, width, etc.) of an element,operations, or conditions, the phrase “between X and Y” represents arange that includes X and Y.

In addition, the terms “comprise,” “comprising,” “include,” “including,”“have,” “having” or any other variation thereof, are intended to cover anon-exclusive inclusion. For example, a method, process, device, orsystem that comprises a list of elements is not necessarily limited toonly those elements but may include other elements not expressly listedor inherent to such method, process, device, or system. Also, the term“or” refers to an inclusive or and not to an exclusive or.

The systems, methods and devices of this disclosure each have severalinnovative aspects, no single one of which is solely responsible for allof the desirable attributes disclosed herein. Details of one or moreimplementations of the subject matter described in this Specificationare set forth in the description below and the accompanying drawings.

Example Autonomous Delivery System

FIG. 1 shows an autonomous delivery environment 100 according to someembodiments of the present disclosure. The autonomous deliveryenvironment 100 includes AVs 110, an online system 120, a client device130, and a third-party device 140. In other embodiments, the autonomousdelivery environment 100 may include fewer, more, or differentcomponents. For instance, the autonomous delivery environment 100 mayinclude a different number of AVs. A single AV is referred to herein asAV 110, and multiple AVs are referred to collectively as AVs 110. Forpurpose of simplicity and illustration, FIG. 1 shows one client device130 and one third-party device 140. In other embodiments, the autonomousdelivery environment 100 includes multiple third-party devices ormultiple client devices.

In some embodiments, the autonomous delivery environment 100 includesone or more communication networks (not show in FIG. 1 ) that supportscommunications between some or all of the components in the autonomousdelivery environment 100. A network may comprise any combination oflocal area and/or wide area networks, using both wired and/or wirelesscommunication systems. In one embodiment, the network uses standardcommunications technologies and/or protocols. For example, the networkincludes communication links using technologies such as Ethernet,802.11, worldwide interoperability for microwave access (WiMAX), 3G, 4G,code division multiple access (CDMA), digital subscriber line (DSL),etc. Examples of networking protocols used for communicating via thenetwork include multiprotocol label switching (MPLS), transmissioncontrol protocol/Internet protocol (TCP/IP), hypertext transportprotocol (HTTP), simple mail transfer protocol (SMTP), and file transferprotocol (FTP). Data exchanged over the network may be represented usingany suitable format, such as hypertext markup language (HTML) orextensible markup language (XML). In some embodiments, all or some ofthe communication links of the network may be encrypted using anysuitable technique or techniques.

An AV 110 is a vehicle that is capable of sensing and navigating itsenvironment with little or no user input. The AV 110 may be asemi-autonomous or fully autonomous vehicle, e.g., a boat, an unmannedaerial vehicle, a driverless car, etc. Additionally, or alternatively,the AV 110 may be a vehicle that switches between a semi-autonomousstate and a fully autonomous state and thus, the AV may have attributesof both a semi-autonomous vehicle and a fully autonomous vehicledepending on the state of the vehicle. The AV 110 may include a throttleinterface that controls an engine throttle, motor speed (e.g.,rotational speed of electric motor), or any other movement-enablingmechanism; a brake interface that controls brakes of the AV (or anyother movement-retarding mechanism); and a steering interface thatcontrols steering of the AV (e.g., by changing the angle of wheels ofthe AV). The AV 110 may additionally or alternatively include interfacesfor control of any other vehicle functions; e.g., windshield wipers,headlights, turn indicators, air conditioning, etc.

In some embodiments, an AV 110 includes an onboard sensor suite. Theonboard sensor suite detects surrounding environment of the AV 110 andgenerates sensor data describing the surround environment. The onboardsensor suite may include various types of sensors. In some embodiments,the onboard sensor suite includes a computer vision (“CV”) system,localization sensors, and driving sensors. For example, the onboardsensor suite may include photodetectors, cameras, RADAR, SoundNavigation And Ranging (SONAR), LIDAR, GPS, wheel speed sensors,inertial measurement units (IMUs), accelerometers, microphones, straingauges, pressure monitors, barometers, thermometers, altimeters, ambientlight sensors, etc. The sensors may be located in various positions inand around the AV 110.

In some embodiments, the onboard sensor suite may include one or moresensors for a delivery assembly that is secured in the AV 110. Thedelivery assembly facilitating delivery of items (e.g., prepared foods,groceries, packages, etc.) by the AV 110. The delivery assembly definesa space where the items can be stored in the AV 110. The space may be acontrolled environment. For example, access to the space may requirementauthentication of the identity of a user. As another example, a physicalcondition (e.g., temperature, lightening, etc.) of the space ismaintained at a desired level. The delivery assembly may includefeatures that facilitate users (e.g., customers or personnel of a retailentity) to load or unload items from the AV 110. The delivery assemblymay support a UI that provides the users information regarding theloading or unloading process. The UI may also allow the users tointeract with the delivery assembly or the AV 110 during the loading orunloading process. The delivery assembly may include safety features toprotect the safety of the users during the loading or unloading process.The delivery assembly may also include privacy features to protect theprivacy of the user. More details about the delivery assembly aredescribed below in conjunction with FIGS. 4 and 5 .

The AV 110 also includes an onboard controller. The onboard controllercontrols operations and functionality of the AV 110. In embodimentswhere the AV 110 includes the delivery assembly, the onboard controllermay control operations and functionality of the delivery assembly. Insome embodiments, the onboard controller is a general-purpose computer,but may additionally or alternatively be any suitable computing device.The onboard controller is adapted for I/O communication with othercomponents of the AV 110 (e.g., the onboard sensor suite, an UI moduleof the delivery assembly, etc.) and external systems (e.g., the onlinesystem 120). The onboard controller may be connected to the Internet viaa wireless connection (e.g., via a cellular data connection).Additionally or alternatively, the onboard controller may be coupled toany number of wireless or wired communication systems.

The onboard controller processes sensor data generated by the onboardsensor suite and/or other data (e.g., data received from the onlinesystem 120) to determine the state of the AV 110. Based upon the vehiclestate and programmed instructions, the onboard controller modifies orcontrols behavior of the AV 110. In some embodiments, the onboardcontroller implements an autonomous driving system (ADS) for controllingthe AV 110 and processing sensor data from the onboard sensor suiteand/or other sensors in order to determine the state of the AV 110.Based upon the vehicle state and programmed instructions, the onboardcontroller modifies or controls driving behavior of the AV 110.

An AV 110 may also include a rechargeable battery that powers the AV110. The battery may be a lithium-ion battery, a lithium polymerbattery, a lead-acid battery, a nickel-metal hydride battery, a sodiumnickel chloride (“zebra”) battery, a lithium-titanate battery, oranother type of rechargeable battery. In some embodiments, the AV 110 isa hybrid electric vehicle that also includes an internal combustionengine for powering the AV 110, e.g., when the battery has low charge.In some embodiments, the AV 110 includes multiple batteries, e.g., afirst battery used to power vehicle propulsion, and a second batteryused to power AV hardware (e.g., the onboard sensor suite and theonboard controller 117). The AV 110 may further include components forcharging the battery, e.g., a charge port configured to make anelectrical connection between the battery and a charging station.

The online system 120 manages delivery services using the AVs 110. Adelivery service is a delivery of one or more items from one location toanother location. In some embodiments, a delivery service is a servicefor picking up an item from a location of a business (e.g., a grocerystore, a distribution center, a warehouse, etc.) and delivering the itemto a location of a customer of the business. In other embodiments, adelivery service is a service for picking up an item from a customer ofthe business and delivering the item to a location of the business,e.g., for purpose of returning the item.

The online system 120 may select an AV 110 from a fleet of AVs 110 toperform a particular delivery service and instruct the selected AV 110to autonomously drive to a particular location. The online system 120sends a delivery request to the AV 110. The delivery request includesinformation associate with the delivery service, e.g., information of auser requesting the delivery (e.g., location, identifying information,etc.), information of an item to be delivered (e.g., size, weight, orother attributes). In some embodiments, the online system 120 mayinstruct one single AV 110 to perform multiple delivery services. Forinstance, the online system 120 instructs the AV 110 to pick up itemsfrom one location and delivery the items to multiple locations, or viceversa. The online system 120 also manages maintenance tasks, such ascharging and servicing of the AVs 110. As shown in FIG. 1 , each of theAVs 110 communicates with the online system 120. The AVs 110 and onlinesystem 120 may connect over a public network, such as the Internet.

In some embodiments, the online system 120 may also provide the AV 110(and particularly, onboard controller 145) with system backendfunctions. The online system 120 may include one or more switches,servers, databases, live advisors, or an automated voice response system(VRS). The online system 120 may include any or all of theaforementioned components, which may be coupled to one another via awired or wireless local area network (LAN). The online system 120 mayreceive and transmit data via one or more appropriate devices andnetwork from and to the AV 110, such as by wireless systems, such as882.11x, GPRS, and the like. A database at the online system 120 canstore account information such as subscriber authentication information,vehicle identifiers, profile records, behavioral patterns, and otherpertinent subscriber information. The online system 120 may also includea database of roads, routes, locations, etc. permitted for use by AV110. The online system 120 may communicate with the AV 110 to provideroute guidance in response to a request received from the vehicle.

For example, based upon information stored in a mapping system of theonline system 120, the online system 120 may determine the conditions ofvarious roads or portions thereof. Autonomous vehicles, such as the AV110, may, in the course of determining a navigation route, receiveinstructions from the online system 120 regarding which roads orportions thereof, if any, are appropriate for use under certaincircumstances, as described herein. Such instructions may be based inpart on information received from the AV 110 or other autonomousvehicles regarding road conditions. Accordingly, online system 120 mayreceive information regarding the roads/routes generally in real-timefrom one or more vehicles.

The online system 120 communicates with the client device 130. Forinstance, the online system 120 receives delivery requests from theclient device 130. A delivery request is a request to deliver one ormore items from a location to another location. The delivery request mayinclude information of the items, information of the locations (e.g.,store location, distribution center location, warehouse location,location of a customer, etc.), and so on. The online system 120 canprovide information associated with the delivery request (e.g.,information of the status of the delivery process) to the client device130.

The client device 130 may be a device (e.g., a computer system) of auser of the online system 120. The user may be an entity or anindividual. In some embodiments, a user may be a customer of anotheruser. In an embodiment, the client device 130 is an online systemmaintained by a business, e.g., a retail business, a package servicebusiness, etc. The client device 130 may be an application providercommunicating information describing applications for execution by thethird-party device 140 or communicating data to the third-party device140 for use by an application executing on the third-party device 140.

The third-party device 140 is one or more computing devices capable ofreceiving user input as well as transmitting and/or receiving data viathe network. The third-party device 140 may be a device of anindividual. The third-party device 140 communicates with the clientdevice 130 to request delivery or return of items. For instance, thethird-party device 140 may send a delivery request to the client device130 through an application executed on the third-party device 140. Thethird-party device 140 may receive from the client device 130information associated with the request, such as status of the deliveryprocess.

In one embodiment, the third-party device 140 is a conventional computersystem, such as a desktop or a laptop computer. Alternatively, athird-party device 140 may be a device having computer functionality,such as a personal digital assistant (PDA), a mobile telephone, asmartphone, or another suitable device. A third-party device 140 isconfigured to communicate via the network. In one embodiment, athird-party device 140 executes an application allowing a user of thethird-party device 140 to interact with the online system 120. Forexample, a third-party device 140 executes a browser application toenable interaction between the third-party device 140 and the onlinesystem 120 via the network. In another embodiment, a third-party device140 interacts with the online system 120 through an applicationprogramming interface (API) running on a native operating system of thethird-party device 140, such as IOS′® or ANDROID™.

Example Online System

FIG. 2 is a block diagram illustrating the online system 120 accordingto some embodiments of the present disclosure. The online system 120includes a UI server 210, a vehicle manager 220, a delivery manager 230,and a database 240. Alternative configurations, different or additionalcomponents may be included in the online system 120. Further,functionality attributed to one component of the online system 120 maybe accomplished by a different component included in the online system120 or a different system, e.g., the onboard controller of an AV 110.

The UI server 210 is configured to communicate with third-party devices(e.g., the third-party device 140) that provide a UI to users. Forexample, the UI server 210 may be a web server that provides abrowser-based application to third-party devices, or the UI server 210may be a mobile app server that interfaces with a mobile app installedon third-party devices. The UI enables the user to access a service ofthe online system 120, e.g., to request a delivery by using an AV 110.

The vehicle manager 220 manages and communicates with a fleet of AVs,e.g., the AVs 110. The vehicle manager 220 may assign AVs 110 to varioustasks and direct the movements of the AVs 110 in the fleet. For example,the vehicle manager 220 assigns an AV 110 to perform a delivery servicerequested by a user through the UI server 210. The user may beassociated with the client device 130. The vehicle manager 220 mayinstruct AVs 110 to drive to other locations while not servicing a user,e.g., to improve geographic distribution of the fleet, to anticipatedemand at particular locations, to drive to a charging station forcharging, etc. The vehicle manager 220 also instructs AVs 110 to returnto AV facilities for recharging, maintenance, or storage.

The delivery manager 230 manages delivery services requested by users ofthe online system 120, e.g., a user associated with the client device130. The delivery manager 230 processes a delivery request from a userand sends information in the delivery request to the vehicle manager 220for the vehicle manager 220 to select an AV 110 meeting the need of theuser. The delivery manager 230 may also monitor the process of adelivery service, e.g., based on the state of the AV 110 and the stateof the delivery assembly in the AV 110. In some embodiments, thedelivery manager 230 sends information of the delivery process to theclient device 130 so that the user can be informed of the status of thedelivery service. The delivery manager 230 may also analyze errorsdetected during the performance of the delivery service. The deliverymanager 230 may assist to resolve the error. For example, the deliverymanager 230 may determine a solution to fix the error. The solution mayinclude an instruction to the onboard controller of the AV 110 or aperson loading/unloading the item. As yet another example, the deliverymanager 230 communicates the error to the client device 130 and requeststhe client device 130 to fix the error.

The database 250 stores data used, generated, received, or otherwiseassociated with the online system 120. For instance, the database 250stores data associated with the AVs 110, data received from the clientdevice 130, data associated with users of the online system 120, and soon.

Example Onboard Controller

FIG. 3 is a block diagram illustrating an onboard controller 300 of anAV 110 according to some embodiments of the present disclosure. Theonboard controller 300 includes an interface module 310, a localizationmodule 320, a navigation module 330, and a delivery module 340.Alternative configurations, different or additional components may beincluded in the onboard controller 300. Further, functionalityattributed to one component of the onboard controller 300 may beaccomplished by a different component included in the AV 110 or adifferent system, e.g., the online system 120.

The interface module 310 facilitates communications of the onboardcontroller 300 with other systems. For instance, the interface module310 supports communications of the onboard controller 300 with othersystems, e.g., the online system 120. The interface module 310 supportscommunications of the onboard controller 300 with other components ofthe AV 110, e.g., the onboard sensor suite, delivery assembly, oractuators in the AV 110. For instance, the interface module 310 mayretrieve sensor data generated by the onboard sensor suite, communicatewith an UI module of the delivery assembly, or send commands to theactuators. In an embodiment, the interface module 310 facilitates alocal connection between the onboard controller 300 and the deliveryassembly. The local connection may be a wired connection or localwireless connection, such as Bluetooth.

The localization module 320 localizes the AV 110. The localizationmodule 320 may use sensor data generated by the onboard sensor suite todetermine where the AV 110 is. The sensor data includes informationdescribing an absolute or relative position of the AV 110 (e.g., datagenerated by GPS, GNSS, IMU, etc.), information describing featuressurrounding the AV 110 (e.g., data generated by a camera, RADRA, SONAR,LINAR, etc.), information describing motion of the AV 110 (e.g., datagenerated by the motion sensor), or some combination thereof. In someembodiments, the localization module 320 uses the sensor data todetermine whether the AV 110 has entered a local area, such as a parkinggarage or parking lot where the AV 110 can be charged. In some otherembodiments, the localization module 320 may send the sensor data to theonline system 120 and receives from the online system 120 adetermination whether the AV 110 has entered the local area.

In some embodiments, the localization module 320 determines whether theAV 110 is at a predetermined location (e.g., a destination of a deliveryservice). For instance, the localization module 320 uses sensor datagenerated by the onboard sensor suite (or a sensor in the onboard sensorsuite) to determine the location of the AV 110. The localization module320 may further compare the location of the AV 110 with thepredetermined location to determine whether the AV 110 has arrived. Thelocalization module 320 may provide locations of the AV 110 to thedelivery module 340.

The localization module 320 can further localize the AV 110 within thelocal area. For instance, the localization module 320 determines a pose(position or orientation) of the AV 110 in the local area. In someembodiments, the localization module 320 localizes the AV 110 within thelocal area by using a model of the local area. The model may be a 2D or3D representation of the surrounding area, such as a map or a 3D virtualscene simulating the surrounding area. In various embodiments, thelocalization module 320 receives the model of the local area from theonline system 120. The localization module 320 may send a request forthe model to the online system 120 and in response, receive the model ofthe local area. In some embodiments, the localization module 320generates the request based on sensor data indicating a position ormotion of the AV 110. For instance, the localization module 320 detectsthat the AV 110 is in the local area or is navigated to enter the localarea based on the sensor data and sends out the request in response tosuch detection. This process can be dynamic. For example, thelocalization module 320 may send new request to the online system 120 asthe AV 110 changes its position.

The localization module 320 may further localize the AV 110 with respectto an object in the local area. An example of the object is a buildingin the local area. The localization module 320 may determine a pose ofthe AV 110 in relative to the building based on features in the localarea. For example, the localization module 320 retrieves sensor datafrom one or more sensors (e.g., camera, LIDAR, etc.) in the onboardsensor suite that detect the features. The localization module 320 usesthe sensor data to determine the pose of the AV 110. The features may belane markers, street curbs, driveways, and so on. A feature may betwo-dimensional or three-dimensional.

The navigation module 330 controls motion of the AV 110. The navigationmodule 330 may control the motor of the AV 110 to start, pause, resume,or stop motion of the AV 110. The navigation module 330 may furthercontrol the wheels of the AV 110 to control the direction the AV 110will move. In various embodiments, the navigation module 330 generates anavigation route for the AV 110 based on a location of the AV 110, adestination, and a map. The navigation module 330 may receive thelocation of the AV 110 from the localization module 320. The navigationmodule 330 receives a request to go to a location and generate a routeto navigate the AV 110 from its current location, which is determined bythe localization module 320, to the location. The navigation module 330may receive the destination from the delivery module 340 or an externalsource, such as the online system 120, through the interface module 310.

The delivery module 340 manages autonomous delivery by the AV 110.Functionality attributed to the delivery module 340 may be accomplishedby a different component of the autonomous delivery environment 100,such as the delivery assembly. In some embodiments, the delivery module340 processes delivery requests received from the online system 120. Thedelivery module 340 may communicate with the localization module 320 andthe navigation module 330 to navigate the AV 110 based on the deliveryrequests, e.g., to navigate the AV 110 to locations specified in thedelivery request.

The delivery module 340 may monitor or control the delivery assembly inthe AV 110. The delivery module 340 may determine a size limit of thedelivery assembly, e.g., based on the size of the container in thedelivery assembly. The delivery module 340 may further determine whetherthe item that the online system 120 requests the AV 110 to deliver(“requested item”) can fit in the delivery assembly based on the sizelimit. In embodiments that the delivery module 340 determines that therequested item has a size larger than the size limit of the deliveryassembly, the delivery module 340 may communicate with the online system120 to cancel or change the delivery request.

In some embodiments, the delivery module 340 uses sensor data generatedby sensors in the delivery assembly to determine the state of an item inthe delivery assembly. For instance, the delivery module 340 detectswhether the item has been removed from the container or placed into thecontainer by using sensor data generated by a sensor associated with thecontainer. In some embodiments, the delivery module 340 uses the sensordata to determine whether the item matches a description in the deliveryrequest to ensure that the item being remove or placed is the rightitem. The delivery module 340 may also determine a physical condition ofthe item.

The delivery module 340 may also manage a UI module of the deliveryassembly. For instance, the delivery module 340 generates indicatorsbased on the state of the item or the delivery process and instructs theUI module to provide the indicators to the user. An indicator may belight, text, sound, or some combination thereof. An indicator may informthe user of the state of the item or the delivery process or provide aninstruction to the user. In an embodiment, the delivery module 340generates textual or audio messages and instructs the UI module todisplay the textual or audio messages. In another embodiment, thedelivery module 340 turns on a light on the UI module. The deliverymodule 340 may also control the delivery assembly based on user inputreceived through the UI module. For example, the delivery module 340changes a position of a receptacle or divider in the delivery assemblybased on the user's interaction with the UI module. The delivery module340 may command an actuator to change the position of the receptacle ordivider. As another example, the delivery module 340 authenticates anidentity of the user based on identification information received fromthe user through the UI module. The delivery module 340 may provide theuser access to the container after the identity authentication.

In some embodiments, the delivery module 340 also monitors or controlsother components (e.g., a door) of the AV 110 to facilitate autonomousdelivery. In some embodiments, after the AV 110 arrives at a deliverylocation, the delivery module 340 provides the user an access to thecontainer through a door of the AV 110. In an embodiment, the door is atthe curbside of the AV 110, as opposed to the traffic side of the AV110, when the AV 110 parks on a street. The delivery module 340 maycommand an actuator of the door to open the door after the localizationmodule 320 determines that the AV 110 has arrived at the deliverylocation. The delivery module 340 may also command the actuator to closethe door after the user finished loading or unloading the item. Forinstance, the delivery module 340 determines a position of the userrelative to the door, e.g., by using sensor data generated by a sensorassociated with the door, and the delivery module 340 commands theactuator to close the door based on the determined position, e.g., thedetermined position indicates that it is safe to the user to close thedoor. The delivery module 340 may also use sensor data to monitorwhether the door is open or closed. The delivery module 340 may instructthe navigation module 330 to resume motion of the AV 110 after the dooris closed.

In some embodiments, the delivery module 340 detects and processeserrors occurred during the delivery. For example, the delivery module340 may detect that the item removed or placed by the user does notmatch the description of the requested item in the delivery request. Forinstance, the delivery module 340 may detect that the item does notmatch the weight of the requested item in the delivery request. Aftersuch a detection, the delivery module 340 may send an error message tothe UI module to inform the user of the error. The delivery module 340may also analyze an error, determine a solution to the error, andprovide the user an instruction to fix the error through the UI module,Additionally or alternatively, the delivery module 340 may report theerror to the online system 120 and request the online system 120 toprovide a solution to the error.

Example Delivery Assembly

FIG. 4 is a block diagram illustrating a delivery assembly 400 of an AV110 according to some embodiments of the present disclosure. Thedelivery assembly 400 includes a container 410, a movable receptacle420, a divider 430, a UI module 440, and a delivery controller 450.Alternative configurations, different or additional components may beincluded in the delivery assembly 400. For instance, some embodiments ofthe delivery assembly 400 do not include the movable receptacle 420 orthe divider 430. Further, functionality attributed to one component(e.g., the delivery controller 450) of the delivery assembly 400 may beaccomplished by a different component (e.g., the onboard controller 300)included in the AV 110 or a different system, e.g., the online system120.

The container 410 provides space and securement of items delivered bythe AV 110. The container 410 may have various sizes, shapes, orconfigurations to facilitate delivery of different types of items. Insome embodiments, the container 410 has a size limit and is used fordelivering items that is not larger than the size limit. The container410 may hold one or more items for one single user or multiple users.The container 410 also provides users access to the items placedtherein. In an embodiment, the container 410 includes an opening throughwhich users can reach the items. The opening may be blocked, e.g.,during motion of the AV 110 or before the identity of the user isauthenticated.

The container 410 is secured to the AV 110, e.g., to one or more seatsin the AV 110, and secures the items placed therein. For instance, thecontainer 410 has a configuration that prevents the items from beingdamaged or being moved out of the container 410 during navigation of theAV 110. The container 410 may maintain a physical condition (e.g.,temperature) of the items. In an embodiment, the container 410 maymaintain temperatures above or below the room temperature.

In some embodiments, the container 410 has a structure facilitating theother components of the delivery assembly. For example, the container410 may include tracks on which the movable receptacle 420 can moveinside the container. As another example, the container 410 may includea hinge for flipping up or down the divider 430. The container 410 mayalso provide space and securement for the UI module 440. In someembodiments, the container 410 also provides space and securement foractuators that can drives the movement of the movable receptacle 420 orthe divider. More details regarding the container 410 are describedbelow in conjunction with FIGS. 5 and 6 .

The container 410 may include one or more sensors detecting state ofitems placed in the container. For instance, the container 410 includesa sensor detecting whether the items are present in the container 410.The sensor may be a weight sensor, a camera, other types of sensors, orsome combination thereof. The container 410 may also include one or moresensors detecting physical conditions (e.g., temperature, humidity,etc.) of the items in the container 410.

The movable receptacle 420 is movably attached to the container 410. Themovable receptacle 420 provides space for one or more items. An item canbe placed directly in the container 410 or in the movable receptacle420. In embodiments where multiple items are delivered, the movablereceptacle 420 facilitates placement and removal of the items from asafer side of the vehicle, e.g., from the curb side of the vehicle. In aprocess of picking up multiple items from a user, the user can place anitem in the movable receptacle 420 through the vehicle door at the curbside, then move the movable receptacle 420 away from the vehicle doorand place another item directly in the container 410. In a process ofdelivering multiple items to a user, the user can remove the item placeddirectly in the container 410 first, then move the movable receptacle420 towards the vehicle door and remove the item in the movablereceptacle 420. In some embodiments, the movable receptacle 420 may bemoved inside the container 410. For instance, the movable receptacle 420is movably attached to one or more sliding tracks in the container 410and can slide along the sliding tracks. The movable receptacle 420 canbe moved automatically (e.g., driven by an actuator in accordance with acommand from the delivery controller 450) or manually. Examples of themovable receptacle 420 includes sliding bin, jogging tray, etc. One ormore of the sensors in the container may be placed in the movablereceptacle 420 to detect the state of the item in the movable receptacle420. More details regarding the movable receptacle 420 are describedbelow in conjunction with FIG. 5 .

The divider 430 is inside the container 410 and divides the container410 into multiple sections. The divider 430 can be used when the AV 110delivers items to multiple users. For instance, the first user's itemcan be put in the first section of the container 410 and the seconduser's item can be put in the second section of the container 410. Thedivider 430 blocks the first user from accessing the second user's itemor even from viewing the second user's items so that the second user'sprivacy can be protected. The divider 430 can be flipped up and down toblock or provide access to the space behind the divider 430. The divider430 may also be used to facilitate securement of one or more itemsduring navigation of the AV 110. For instance, the divider 430 mayprevent an item from falling off during navigation of the AV 110. In apickup process, the divider 430 can be raised after the first user loadshis/her items but before the second user has access to the container410. Similarly, in a delivery process, the divider 430 can be flippeddown after the first user unloads his/her items and loses access to thecontainer 410. More details regarding the divider 430 are describedbelow in conjunction with FIG. 6 .

The UI module 440 provides a user interface to provide users informationassociated with loading or unloading items. For instance, the UI module440 informs the user of the state of the item in the container 510(e.g., the item is ready for being picked up, the item has been pickedup, the item has been collected, etc.), the state of the AV 110 (e.g., adoor is open, a door is to be closed, etc.), actions to be taken by theuser (e.g., moving the sliding bin 520, unloading an item, loading anitem, closing a door of the AV 110, etc.), and so on. The UI module 440may provide information to users through indicators generated by the UImodule 440. An indicator may be light, text, sound, or some combinationthereof. The UI module 440 may also include components that the userscan interact with. For instance, the UI module 440 includes a button,which the user can press to change the position of the sliding bin 520.The UI module 440 may also include a component that allows the user toinput information. For instance, the UI module 440 may include a cameraor scanner to capture identification information from the user. Moredetails regarding the UI module 440 are described below in conjunctionwith FIGS. 7A-E, 8A-B, and 9-11.

The delivery controller 450 manages autonomous delivery by the deliveryassembly 400 and controls the other components of the delivery assembly400. The delivery controller 450 may control users' access to thecontainer 410. In some embodiments, the delivery controller 450 maycommunicate with the onboard controller of the AV 110 to open thecurbside door of the AV 110. Additionally or alternatively, the deliverycontroller 450 may provide an indicator to the user, e.g., through theUI module 440, to inform the user to use the curbside door. Theindicator may be light, sound, text, or some combination thereof. In anexample, the delivery controller 450 turns on a light associated withthe curbside door to inform the user to use the curbside door to getaccess to the container 410. The delivery controller 450 may detectambient lightening condition (e.g., level of brightness of theenvironment) and keep the light on during the delivery or pickup processafter it detects that the ambient lightening condition is poor.

In some embodiments, the delivery assembly 400 may verify a user'sidentity before it provides the user access to the container 410. Forinstance, the delivery controller 450 instructs the UI module 440 toinform the user to provide identification information. The deliverycontroller 450 processes the user's identification information receivedby the UI module 440 and authenticates the user's identity. The deliveryassembly 400 may authenticate the user's identity by verifying theauthenticity of the identification information (e.g., authenticity of anID card) or verifying whether the received identification informationmatches the corresponding information of the user that has been receivedfrom the user in advance, e.g., through the online system 120 and theonboard controller of the AV 110. After the delivery controller 450provides the access to the user, the delivery controller 450 instructsthe UI module 440 to inform the user to load or unload an item.

In a pickup process, the delivery controller 450 may provide the useraccess to the movable receptacle 420 first. For instance, the deliverycontroller 450 commands the UI module 440 to inform the user to move themovable receptacle 420 towards the curbside door of the AV 110. Afterthe user has the movable receptacle 420 moved, either automatically ormanually, the delivery controller 450 may command the UI module 440 toinstruct the user to place an item into the movable receptacle 420.

In some embodiments, the delivery controller 450 processes sensor datagenerated by sensors in the container 410 and movable receptacle 420 todetect the state of an item in the container 410, e.g., whether the itemis present in the container 410 or movable receptacle 420, physicalconditions of the item, etc. The delivery controller 450 may also detecterrors occurred during the autonomous delivery based on the sensor data.The delivery controller 450 may instruct the UI module 440 to inform theuser of the state of the items or errors. The delivery controller 450may also instruct the user to provide input based on the state of theitem, e.g., input indicating whether to move the movable receptacle 420or divider 430. The delivery controller 450 may command an actuator tomove the movable receptacle 420 or divider 430 based on the user'sinput.

In an example of a delivery process, the delivery controller 450retrieves first sensor data generated by a sensor associated with thecontainer 410 and detects, based on the first sensor data, removal of anitem from the container 410. In response to detecting the removal of thefirst item, the delivery controller 450 instructs the UI module 440 toinstruct the user to move the movable receptacle 420 towards thecurbside door of the AI 110. After the UI module 440 provides theinstruction to the user, the delivery controller 450 retrieves secondsensor data generated by a sensor associated with the movable receptacle420. The delivery controller 450 detected, based on the first sensordata, removal of the second item from the movable receptacle 420 andafterwards instructs the UI module 440 to instruct the user to close thecurbside door of the AV 110.

In an example of a pickup process, the delivery controller 450 retrievesfirst sensor data generated by a sensor associated with the movablereceptacle 420 and detects, based on the first sensor data, placement ofa first item into the movable receptacle 420. In response to detectingthe placement of the first item, the delivery controller 450 instructsthe UI module 440 to instruct the user to move the movable receptacle420 away from the curbside door of the AI 110. After the UI module 440provides the instruction to the user, the delivery controller 450retrieves second sensor data generated by a sensor associated with thecontainer 410. The delivery controller 450 detected, based on the secondsensor data, placement of the second item into the container 410 andafterwards instructs the UI module 440 to instruct the user to close thecurbside door of the AV 110.

The delivery controller 450 may detect the current position of themovable receptacle 420 and determine whether or not the movablereceptacle 420 needs to be repositioned. For example, the deliverycontroller 450 determines whether the movable receptacle 420 is at adesired position that a user may place items into or remove item fromthe movable receptacle 420 through the curbside door of the AI 110. Asanother example, the delivery controller 450 determines whether themovable receptacle 420 is at a desired position that a user may placeitems into or remove item directly from the container 410 (outside themovable receptable 420) through the curbside door of the AI 110. In anembodiment where the delivery controller 450 determines that the movablereceptacle 420 is not at the desired position, the delivery controller450 can automatically change the position of the movable receptacle 420to the desired position or instruct the UI module 440 to inform the userto move the movable receptacle 420 to the desired position. Additionallyor alternatively, the delivery controller 450 may automatically resetthe position of the movable receptacle 420 after a delivery or pickupprocesses is completed. For instance, after the delivery controller 450determines that a user has removed all the items from the movablereceptacle 420 during a delivery process, the delivery controller 450may move the movable receptacle 420 away from the curbside door of theAV 110.

In some embodiments, the delivery controller 450 communicates with theonboard controller, e.g., through a local connection. Some or all of thefunctionality attributed to the delivery controller 450 may beaccomplished by the onboard controller of the AV 110. For example, thedelivery controller 450 may send the sensor data generated by thesensors associated with the container 410 to the onboard controller andrequests the onboard controller to detect the state of the items orinstruct the UI module 440 to provide indicators to the user. Thedelivery controller 450 may provide information regarding the status ofthe delivery service (e.g., information indicating completion of adelivery or pickup process, information describing an error in adelivery or pickup process, etc.) to the onboard controller for theonboard controller to change state of the AV 110 or to communicate withthe online system 120. As another example, the delivery controller 450may receive information about the delivery service (e.g., information ofthe user and item) from the onboard controller to determine whether thedelivery or pickup process has any error.

FIG. 5 illustrates an example delivery assembly 500 according to someembodiments of the present disclosure. The delivery assembly 500includes a container 510, a sliding bin 520, and a UI module 530. Insome embodiments, the delivery assembly 500 may include differentcomponents. For instance, the delivery assembly 500 may include a frameconfigured to be attached on the container 510 and to secure thecontainer to an AV 110.

The container 510 is an embodiment of the container 410 in FIG. 4 . Thecontainer 510 in FIG. 5 is a partially open box. In other embodiments,the container 510 may have other configurations. For example, thecontainer 510 may be a closed box or a fully open box. The container 510may also include a shelf, a drawer, a cabinet, or other types of storagecomponents. The container 510 may have a size that fits one or moreseats in the AV 110. In some embodiments, the container 510 has a sizethat fits the backrow of the AV 110. The container may be made of aplastic material, metal, other types of materials, or some combinationthereof. In some embodiments, the container 510 has a size limit and thesize of an items delivered by using the container does not exceed thesize limit. The container 510 may have a frame that can be secured toone or more seats in the AV 110.

The sliding bin 520 is movably attached to the container 510. In FIG. 5, the sliding bin 520 is arranged inside the container 510 and coupledto two sliding tracks in the container 510. The sliding bin 520facilitates loading/unloading multiple items in the container 510. Auser may move the sliding bin 520 to get an access to an item placed inthe sliding bin 520 without walking to the other side of the AV 110.This may be important to the safety of the user. In some embodiments,the sliding bin 520 is automatic. The onboard controller of the AV 110may command an actuator to change the position of the sliding bin 520relative to the curbside door. The sliding bin 520 is an embodiment ofthe movable receptacle 420 in FIG. 4 .

The UI module 530 provides a user interface to provide users informationassociated with loading or unloading items. For instance, the UI module530 informs the user of the state of the item in the container 510(e.g., the item is ready for being picked up, the item has been pickedup, etc.), the state of the AV 110 (e.g., a door is open, a door is tobe closed, etc.), actions to be taken by the user (e.g., moving thesliding bin 520, unloading an item, loading an item, closing a door ofthe AV 110, etc.), and so on. The UI module 530 may provide informationto users through indicators generated by the UI module 530. An indicatormay be light, text, sound, or some combination thereof.

The UI module 530 may also include components that the users caninteract with. For instance, the UI module 530 includes a button 535,which the user can press to move the sliding bin 520, e.g., moverelative to the curbside door of the AV 110. In an example, the UImodule 530 informs the user that the sliding bin 520 can be moved bypushing the button 535, e.g., by illuminating the button. The UI module530 may also include a component that allows the user to inputinformation. For instance, the UI module 530 may include a camera orscanner to capture identification information from the user. The UImodule 530 is an embodiment of the UI module 440 in FIG. 4 .

FIG. 6 illustrates another example delivery assembly 600 according tosome embodiments of the present disclosure. The delivery assembly 600includes a container 610, a divider 620, and a UI module 630. In someembodiments, the delivery assembly 400 may include different components.For example, the delivery assembly 600 may include a frame configured tobe attached on the container 610 and to secure the container to an AV110. As another example, the delivery assembly 600 also includes amovable receptacle, e.g., the sliding bin 520 in FIG. 5 . The container610 is similar to the container 410 in FIG. 4 , and the UI module 630 issimilar to the UI module 440 in FIG. 4 . The UI modules 430 and 630 havea shape that is similar to rectangular and are located at the bottom ofthe container 410. In other embodiments, the UI module 440 or 630 mayhave a different shape or location.

The divider 620 is inside the container 610 and divides the container610 into two sections. The divider 620 is an embodiment of the divider430 in FIG. 4 . The divider 620 may be partially or fully opaque toprotect user privacy in embodiments where the AV 110 is used to deliveritems to multiple users. For instance, the item for the first user canbe placed in the first section of the container 610, and the item forthe second user can be placed in the second section of the container610. When the first user unloads the first item from the container 610,the second item is invisible, or maybe even inaccessible, to the firstuser as the second item is behind the divide 620. After the first userfinishes unloading the first item (e.g., after the AV 110 closes thedoor and leaves the location of the first user) or when the second itemcan be picked up by the second user (e.g., after the AV 110 arrives atthe location of the second user), the onboard controller of the AV 110may command an actuator to flip down the divider 620 to make the seconditem visible and accessible to the second user. In some embodiments, asliding bin is present in the second section of the container 610 andthe sliding bin can be moved towards the curbside door of the AV 110 toprovide the second user a safe access to the second item.

Example UI Module

FIGS. 7A-E are various views of a UI module 700 according to someembodiments of the present disclosure. FIGS. 7A-7D are different viewsof the UI module 700. The UI module 700 may be an embodiment of the UImodule 440 or 530 described above. The UI module 700 includes a bar 710and a button 720. The bar 710 may be fixed on a container, e.g., thecontainer 410 or 510, by using the coupling elements 730 and 740.

The button 720 may be a controller of a movable receptacle (e.g., thesliding bin 520) or a divider (e.g., the divider 620). A user may pushthe button 720 to move the movable receptacle or divider. In someembodiments, the button 720 has an active state and an inactive state.The button 720 can control the movement of the movable receptacle ordivider in the active state but cannot do so in the inactive state. Thebutton 720 may be associated with a light emitter that illuminates(e.g., back lights) the button 720 when the button 720 is in the activestate to provide an indicator to the user that the button 720 is active.

FIGS. 8A-B illustrate an example button 800 of the UI module 700according to some embodiments of the present disclosure. FIGS. 8A-B aretwo different views of the example button 800. The example button 800may be an embodiment of the button 720 in FIGS. 7A-E.

FIG. 9 illustrates a UI 900 according to some embodiments of the presentdisclosure. The UI 900 is supported by a UI module (e.g., the UI module530, 630, or 700) of a delivery assembly (e.g., the delivery assembly400, 500, or 600) in an AV 110. The UI 900 provides an interface tousers for receiving information and providing input. The UI 900 includesa message display 910 and a button 920. In other embodiments, the UI 900may include other components.

The message display 910 displays textual indicators to the user. Atextual indicator provides information associated with loading orunloading an item. For instance, a textual indicator informs the userthat the item is ready to be picked up, the item has been picked up, thedelivery has been completed, an error is detected, and so on. Thetextual indicator may also provide the user instructions, e.g., aninstruction of how to move a receptacle movably attached to thecontainer. In FIG. 9 , the message display 910 displays a greetingmessage (“Welcome!”) and an instruction to move the receptacle by eitherpull the receptacle or press the button. In other embodiments, themessage display 910 may display other messages to the user. The button920 may be the button 720.

FIG. 10 illustrates another UI 1000 according to some embodiments of thepresent disclosure. The UI 1000 is supported by a UI module (e.g., theUI module 530, 630, or 700) of a delivery assembly (e.g., the deliveryassembly 400, 500, or 600) in an AV 110. The UI 1000 provides aninterface to users to receive information and provide input. The UI 1000includes a message display 1010, a button 1020, and light indicators1030. In other embodiments, the UI 1000 may include other components.

The message display 1010 displays a message (“Welcome!”). The button1020 may be the button 720. The light indicators 1030 providesinformation of the loading or unloading process to users. FIG. 10 showsthree light indicators 1030 (individually referred to as “lightindicator 1030” and collective referred to as “light indicators 1030”).In other embodiments, the UI 1000 may include a different number oflight indicators 1030. An individual light indicator 1030 includes alight 1040 and a description 1050. The description 1050 indicates a stepof a loading or unloading process. FIG. 10 illustrates example steps ofan unloading process, the descriptions 1050 of the three lightindicators 1030 are “unload your item,” “pull receptacle or presshere >,” and “Enjoy!”. In other embodiments, the light indicators 1030may provide description of different steps. When the unloading processis at a particular step, the light 1040 corresponding to the descriptionof the particular step is on and the other lights 1040 are off. In someembodiments, the lights 1040 are light emitting diodes (LEDs). Thelights 1040 may have different colors. For instance, the light 1040 forthe description 1050 saying “Enjoy!” is green, versus the light 1040 forthe description 1050 saying “pull receptacle or press here >” is red.The color of a light 1040 may change. For instance, the light 1040 forthe description 1050 saying “pull receptacle or press here >” may changefrom red to green after the user pulls the receptacle or presses thebutton 1020.

FIG. 11 illustrates yet another UI 1100 according to some embodiments ofthe present disclosure. The UI 1100 is supported by a UI module (e.g.,the UI module 530, 630, or 700) of a delivery assembly (e.g., thedelivery assembly 400, 500, or 600) in an AV 111. The UI 1100 providesan interface to users to receive information and provide input. The UI1100 includes a message display 1111, a button 1120, light indicators1130, and a speaker 1140. In other embodiments, the UI 1100 may includeother components.

The message display 1111, button 1120, and light indicators 1130 may besimilar to the message display 911, button 920, and light indicators 930in FIG. 9 . The speaker 1140 provides audio to inform user's status ofthe load or unload process. In some embodiments, the content of theaudio is the same as the description in the light indicators 1130 andthe audio may be played to the user in synchronization with the lightsin the light indicators 930. In other embodiments, the speaker 1140 mayprovide other information to the users, e.g., information notifying theusers a detection of an error, information assisting the users toresolve an error, and so on. The UI 1100 may provide interactiveelements that the users can choose to change volume of the speaker 1140,mute the speaker 1140, or turn the speaker 1140 on.

Example Delivery Process

FIG. 12 is a flowchart showing a process 1200 of delivering an item to auser by using an AV 110 according to some embodiments of the presentdisclosure. The process 1200 may be performed by a delivery assembly ofan AV 110, e.g., the delivery assembly 400. Although the process 1200 isdescribed with reference to the flowchart illustrated in FIG. 12 , manyother processes of autonomously delivering items may alternatively beused. For example, the order of execution of the steps in FIG. 12 may bechanged. As another example, some of the steps may be changed,eliminated, or combined.

The delivery assembly 400 provides, in 1210, a user an access to acontainer in a vehicle through a door of the vehicle. The deliveryassembly 400 retrieves, in 1220, sensor data generated by a sensorassociated with the container. The delivery assembly 400 detects, in1230, based on the sensor data, removal of an item from the container.Subsequent to detecting the removal of the item, the delivery assembly400 provides, in 1240, an instruction, in a user interface associatedwith the container, to instruct the user to close the door of thevehicle. The delivery assembly 400 may provide the instruction throughan indicator in the user interface. An indicator in the user interfacecan be light, text, sound, or some combination thereof.

FIG. 13 is a flowchart showing another process 1300 of delivering anitem to a user by using an AV 110 according to some embodiments of thepresent disclosure. The process 1300 may be performed by an onboardcontroller of an AV 110, e.g., the onboard controller 300. Although theprocess 1300 is described with reference to the flowchart illustrated inFIG. 13 , many other processes of autonomously delivering items mayalternatively be used. For example, the order of execution of the stepsin FIG. 13 may be changed. As another example, some of the steps may bechanged, eliminated, or combined.

The onboard controller 300 receives, in 1310, a delivery request from anonline system. The delivery request includes a location associated witha user. The onboard controller 300 retrieves, in 1320, first sensor datagenerated by a first sensor associated with a vehicle. The onboardcontroller 300 determines, in 1330, whether the vehicle is at thelocation based on first sensor data generated by a first sensorassociated with a vehicle. In response to determining that the vehicleis at the location, the onboard controller 300 commands, in 1340, amotor of the vehicle to pause motion of the vehicle. The onboardcontroller 300 provides, in 1350, the user an access to a container inthe vehicle through a door of the vehicle. The onboard controller 300retrieves, in 1360, second sensor data generated by a second sensorassociated with the container. The onboard controller 300 detects, in1370, removal of an item from the container based on the second sensordata. Subsequent to detecting the removal of the item, the onboardcontroller 300 commands, in 1380, the motor of the vehicle to resume themotion of the vehicle.

FIG. 14 is a flowchart showing yet another process 1400 of delivering anitem to a user by using an AV 110 according to some embodiments of thepresent disclosure. The process 1400 may be performed by a deliveryassembly of an AV 110, e.g., the delivery assembly 400. Although theprocess 1400 is described with reference to the flowchart illustrated inFIG. 14 , many other processes of autonomously delivering items mayalternatively be used. For example, the order of execution of the stepsin FIG. 14 may be changed. As another example, some of the steps may bechanged, eliminated, or combined.

The delivery assembly 400 provides, in 1410, a user an access to acontainer in a vehicle through a door of the vehicle. A first item ispresent in the container and a second item is present in a receptacle.The receptacle is movably attached to the container. The deliveryassembly 400 retrieves, in 1420, first sensor data generated by a sensorassociated with the container. The delivery assembly 400 detects, in1430, based on the first sensor data, removal of the first item from thecontainer. In response to detecting the removal of the first item, thedelivery assembly 400 provides, in 1440, an instruction, in a userinterface associated with the container, to instruct the user to movethe receptacle towards the door. Subsequent to providing theinstruction, the delivery assembly 400 retrieves, in 1450, second sensordata generated by a sensor associated with the receptacle. The deliveryassembly 400 detects, in 1460, based on the second sensor data, removalof the second item from the receptacle. Subsequent to detecting theremoval of the second item, the delivery assembly 400 provides 1470 aninstruction in the user interface to instruct the user to close the doorof the vehicle.

Example Pickup Process

FIG. 15 is a flowchart showing a process 1500 of collecting an item froma user by using an AV 110 according to some embodiments of the presentdisclosure. The process 1500 may be performed by an onboard controllerof an AV 110, e.g., the onboard controller 300. Although the process1500 is described with reference to the flowchart illustrated in FIG. 15, many other processes of autonomously delivering items mayalternatively be used. For example, the order of execution of the stepsin FIG. 15 may be changed. As another example, some of the steps may bechanged, eliminated, or combined.

The delivery assembly 400 provides, in 1510, a user an access to acontainer in a vehicle through a door of the vehicle. The deliveryassembly 400 retrieves, in 1520, sensor data generated by a sensorassociated with the container. The delivery assembly 400 detects, in1530, based on the sensor data, placement of an item into the container.Subsequent to detecting the placement of the item, the delivery assembly400 provides, in 1540, an instruction, in a user interface associatedwith the container, to instruct the user to close the door of thevehicle.

FIG. 16 is a flowchart showing another process 1600 of collecting anitem from a user by using an AV 110 according to some embodiments of thepresent disclosure. The process 1600 may be performed by an onboardcontroller of an AV 110, e.g., the onboard controller 300. Although theprocess 1600 is described with reference to the flowchart illustrated inFIG. 16 , many other processes of autonomously delivering items mayalternatively be used. For example, the order of execution of the stepsin FIG. 16 may be changed. As another example, some of the steps may bechanged, eliminated, or combined.

The onboard controller 300 receives, in 1610, a delivery request from anonline system. The delivery request includes a location associated witha user. The onboard controller 300 retrieves, in 1620, first sensor datagenerated by a first sensor associated with a vehicle. The onboardcontroller 300 determines, in 1630, whether the vehicle is at thelocation based on first sensor data generated by a first sensorassociated with a vehicle. In response to determining that the vehicleis at the location, the onboard controller 300 commands, in 1640, amotor of the vehicle to pause motion of the vehicle. The onboardcontroller 300 provides, in 1650, the user an access to a container inthe vehicle through a door of the vehicle. The onboard controller 300retrieves, in 1660, second sensor data generated by a second sensorassociated with the container. The onboard controller 300 detects, in1670, removal of an item from the container based on the second sensordata. Subsequent to detecting the removal of the item, the onboardcontroller 300 commands, in 1680, the motor of the vehicle to resume themotion of the vehicle.

FIG. 17 is a flowchart showing yet another process 1700 of collecting anitem from a user by using an AV 110 according to some embodiments of thepresent disclosure. The process 1700 may be performed by an onboardcontroller of an AV 110, e.g., the onboard controller 300. Although theprocess 1700 is described with reference to the flowchart illustrated inFIG. 17 , many other processes of autonomously delivering items mayalternatively be used. For example, the order of execution of the stepsin FIG. 17 may be changed. As another example, some of the steps may bechanged, eliminated, or combined.

The delivery assembly 400 provides, in 1710, a user an access to areceptacle in a vehicle through a door of the vehicle. The receptacle ismovably attached to a container. The delivery assembly 400 retrieves, in1720, first sensor data generated by a sensor associated with thereceptacle, the delivery assembly 400 detects, in 1730, based on thefirst sensor data, placement of a first item into the receptacle. Inresponse to detecting the placement of the first item, the deliveryassembly 400 provides, in 1740, an instruction, in a user interfaceassociated with the container, to instruct the user to move thereceptacle away from the door. Subsequent to providing the instruction,the delivery assembly 400 retrieves, in 1750, second sensor datagenerated by a sensor associated with the container. The deliveryassembly 400 detects, in 1760, based on the second sensor data,placement of a second item into the container. Subsequent to detectingthe placement of the second item, the delivery assembly 400 provides, in1770, an instruction in the user interface to instruct the user to closethe door of the vehicle.

Select Examples

Example 1 provides a method for autonomous delivery. The method includesproviding a user an access to a container in a vehicle through a door ofthe vehicle; retrieving sensor data generated by a sensor associatedwith the container; detecting, based on the sensor data, removal of anitem from the container; and subsequent to detecting the removal of theitem, providing an instruction, in a user interface associated with thecontainer, to instruct the user to close the door of the vehicle.

Example 2 provides the method of example 1, where a receptacle that ismovably attached to the container, further including in response todetecting the removal of the item, providing an indicator to the userthrough the user interface, the indicator informing the user to move thereceptacle towards the door of the vehicle.

Example 3 provides the method of example 2, further including receiving,from the user through the user interface, a request to move thereceptacle towards the door of the vehicle; and in response to receivingthe request from the user, commanding an actuator to move the receptacletowards the door of the vehicle.

Example 4 provides the method of example 3, where providing theindicator to the user through the user interface includes illuminating abutton in the user interface; and receiving, through the user interface,the request to move the receptacle relative to the door of the vehicleincludes receiving an interaction of the user with the button.

Example 5 provides the method of example 1, where a divider is coupledto the container, divides the container into a first section and asecond section with the item being in the first section and anadditional item for an additional user being in the second section, andrenders the additional item invisible from the door of the vehicle,further including subsequent to detecting the removal of the item,commanding an actuator to flip down the divider to make the additionalitem visible through the door of the vehicle.

Example 6 provides the method of example 1, further including subsequentto providing the user the access to the container in the vehicle throughthe door of the vehicle, providing an indicator to the user through auser interface, the indicator informing the user to remove the item fromthe container.

Example 7 provides the method of example 1, further including inresponse to detecting the removal of the item, providing an indicator tothe user through a user interface, the indicator informing the user thata delivery of the item is completed.

Example 8 provides the method of example 1, where providing the user theaccess to the container in the vehicle through the door of the vehicleincludes providing an indicator to the user through a user interface,the indicator informing the user to provide identification information;receiving, through a second sensor associated with the user interface,the identification information of the user; authenticating theidentification information of the user; and subsequent to authenticatingthe identification information of the user, providing the user theaccess to the container in the vehicle through the door of the vehicle.

Example 9 provides the method of example 8, where the second sensor is acamera or a scanner.

Example 10 provides the method of example 1, where providing theinstruction, in the user interface associated with the container, toinstruct the user to close the door of the vehicle includes providing anindicator in the user interface, the indicator informing the user of theinstruction and including light, text, sound, or some combinationthereof.

Example 11 provides a method for autonomous delivery, the methodincluding receiving a delivery request from an online system, thedelivery request including a location associated with a user; retrievingfirst sensor data generated by a first sensor associated with a vehicle;determining whether the vehicle is at the location based on the firstsensor data; in response to determining that the vehicle is at thelocation, commanding a motor of the vehicle to pause motion of thevehicle; providing the user an access to a container in the vehiclethrough a door of the vehicle; retrieving second sensor data generatedby a second sensor associated with the container; detecting removal ofan item from the container based on the second sensor data; andsubsequent to detecting the removal of the item, commanding the motor ofthe vehicle to resume the motion of the vehicle.

Example 12 provides the method of example 11, where the containerincludes a user interface and a receptacle that is movably attached tothe container, further including in response to detecting the removal ofthe item, providing an indicator to the user through the user interface,the indicator informing the user to move the receptacle towards the doorof the vehicle.

Example 13 provides the method of example 12, further includingreceiving, from the user through the user interface, a request to movethe receptacle towards the door of the vehicle; and in response toreceiving the request from the user, commanding an actuator to move thereceptacle towards the door of the vehicle.

Example 14 provides the method of example 13, where providing theindicator to the user through the user interface includes illuminating abutton in the user interface; and receiving, through the user interface,the request to move the receptacle towards the door of the vehicleincludes receiving an interaction of the user with the button.

Example 15 provides the method of example 11, where subsequent todetecting the removal of the item, commanding the motor of the vehicleto resume the motion of the vehicle includes providing an indicator tothe user through a user interface, the indicator informing the user toclose the door; retrieving third sensor data generated by a third sensorassociated with the door; detecting whether the door has been closedbased on the third sensor data; and in response to determining that thedoor has been closed, resuming the motion of the vehicle.

Example 16 provides the method of example 11, where providing the userthe access to the container in the vehicle through the door of thevehicle includes providing an indicator to the user through a userinterface, the indicator informing the user to provide identificationinformation; receiving, through a third sensor associated with the userinterface, the identification information of the user; authenticatingthe identification information of the user; and subsequent toauthenticating the identification information of the user, providing theuser the access to the container in the vehicle through the door of thevehicle.

Example 17 provides the method of example 11, where the delivery requestfurther includes an item description, further including determining,based on the second sensor data, whether the item removed from thecontainer matches the item description in the delivery request; andsubsequent to determining that the item removed from the containermatches the item description in the delivery request, commanding themotor of the vehicle to resume the motion of the vehicle.

Example 18 provides the method of example 11, further includinggenerating one or more indicators for providing information associatedwith removing the item from the container to the user; and providing theone or more indicators to the user through a user interface associatedwith the container.

Example 19 provides the method of example 11, where a divider is coupledto the container, divides the container into a first section and asecond section with the item being in the first section and anadditional item for an additional user being in the second section, andrenders the additional item invisible from the door of the vehicle,further including receiving an additional delivery request, the deliveryrequest specifying delivery of the additional item to the additionaluser; and subsequent to detecting the removal of the item, commanding anactuator to flip down the divider to make the additional item visiblethrough the door of the vehicle.

Example 20 provides a method for autonomous delivery, the methodincluding providing a user an access to a container in a vehicle througha door of the vehicle, where a first item is present in the containerand a second item is present in a receptacle that is movably attached tothe container; retrieving first sensor data generated by a sensorassociated with the container; detecting, based on the first sensordata, removal of the first item from the container; in response todetecting the removal of the first item, providing an instruction, in auser interface associated with the container, to instruct the user tomove the receptacle towards the door; subsequent to providing theinstruction, retrieving second sensor data generated by a sensorassociated with the receptacle; detecting, based on the second sensordata, removal of the second item from the receptacle; and subsequent todetecting the removal of the second item, providing an instruction inthe user interface to instruct the user to close the door of thevehicle.

Example 21 provides a method for autonomous delivery, the methodincluding providing a user an access to a container in a vehicle througha door of the vehicle; retrieving sensor data generated by a sensorassociated with the container; detecting, based on the sensor data,placement of an item into the container; and subsequent to detecting theplacement of the item, providing an instruction, in a user interfaceassociated with the container, to instruct the user to close the door ofthe vehicle.

Example 22 provides the method of example 21, where a receptacle that ismovably attached to the container, and providing the user the access tothe container in the vehicle through the door of the vehicle includesproviding an indicator to the user through the user interface, theindicator informing the user an option of moving the receptacle towardsthe door of the vehicle; receiving, from the user through the userinterface, a selection of the option; and in response to receiving theselection from the user, providing the user the access to thereceptacle.

Example 23 provides the method of example 22, where providing the userthe access to the receptacle includes commanding an actuator to move thereceptacle towards the door of the vehicle.

Example 24 provides the method of example 22, where providing theindicator to the user through the user interface includes illuminating abutton in the user interface; and receiving the selection of the optionincludes receiving an interaction of the user with the button.

Example 25 provides the method of example 21, further includingsubsequent to detecting the placement of the item, commanding anactuator to raise a divider in the container, where the divider dividesthe container into a first section and a second section, the item is inthe first section, and the divider renders the item invisible throughthe door of the vehicle.

Example 26 provides the method of example 21, where providing the userthe access to the container in the vehicle through the door of thevehicle includes providing an indicator to the user through the userinterface, the indicator informing the user to provide identificationinformation; receiving, through a second sensor associated with the userinterface, the identification information of the user; authenticatingthe identification information of the user; and subsequent toauthenticating the identification information of the user, providing theuser the access to the container in the vehicle through the door of thevehicle.

Example 27 provides the method of example 26, where the second sensor isa camera or a scanner.

Example 28 provides the method of example 21, where providing theinstruction, in the user interface associated with the container, toinstruct the user to close the door of the vehicle includes providing anindicator in the user interface, the indicator informing the user of theinstruction and including light, text, sound, or some combinationthereof.

Example 29 provides the method of example 21, further includingsubsequent to providing the user the access to the container in thevehicle through the door of the vehicle, providing an indicator to theuser through a user interface, the indicator informing the user to placethe item into the container.

Example 30 provides the method of example 21, further including inresponse to detecting the placement of the item, providing an indicatorto the user through a user interface, the indicator informing the userthat a collection of the item is completed.

Example 31 provides a method for autonomous delivery, the methodincluding receiving a delivery request from an online system, thedelivery request including a location associated with a user; retrievingfirst sensor data generated by a first sensor associated with a vehicle;determining whether the vehicle is at the location based on the firstsensor data; in response to determining that the vehicle is at thelocation, commanding a motor of the vehicle to pause motion of thevehicle; providing the user an access to a container in the vehiclethrough a door of the vehicle; retrieving second sensor data generatedby a second sensor associated with the container; detecting placement ofan item in the container based on sensor data generated by a sensorassociated with the container; and subsequent to detecting the placementof the item, commanding the motor of the vehicle to resume the motion ofthe vehicle.

Example 32 provides the method of example 31, where the containerincludes a user interface and a receptacle that is movably attached tothe container, where providing the user the access to the container inthe vehicle through the door of the vehicle includes providing anindicator to the user through the user interface, the indicatorinforming the user an option of moving the receptacle towards the doorof the vehicle; receiving, from the user through the user interface, aselection of the option; and in response to receiving the selection fromthe user, providing the user the access to the receptacle.

Example 33 provides the method of example 32, where providing the userthe access to the receptacle includes commanding an actuator to move thereceptacle to the position selected by the user.

Example 34 provides the method of example 32, where providing theindicator to the user through the user interface includes illuminating abutton in the user interface; and receiving the selection of theposition of the receptacle in the container includes receiving aninteraction of the user with the button.

Example 35 provides the method of example 31, where providing the userthe access to the container in the vehicle through the door of thevehicle includes providing an indicator to the user through a userinterface, the indicator informing the user to provide identificationinformation; receiving, through a third sensor associated with the userinterface, the identification information of the user; authenticatingthe identification information of the user; and subsequent toauthenticating the identification information of the user, providing theuser the access to the container in the vehicle through the door of thevehicle.

Example 36 provides the method of example 31, where the delivery requestfurther includes an item description, further including determining,based on the second sensor data, whether the item placed in thecontainer matches the item description in the delivery request;

and subsequent to determining that the item placed in the containermatches the item description in the delivery request, commanding themotor of the vehicle to resume the motion of the vehicle.

Example 37 provides the method of example 31, further includinggenerating one or more indicators for providing information associatedwith placing the item in the container to the user; and providing theone or more indicators to the user through a user interface associatedwith the container.

Example 38 provides the method of example 37, where the one or moreindicators include light, text message, sound, or some combinationthereof.

Example 39 provides the method of example 31, further includingreceiving an additional delivery request, the additional deliveryrequest specifying collection of an additional item from an additionaluser associated with an addition location; detecting placement of theadditional item in the container based on third sensor data generated bythe second sensor associated with the container; and subsequent todetecting the placement of the additional item in the container,commanding an actuator to raise a divider in the container, the dividerdividing the container into a first section and a second section withthe additional item being in the first section, the divider renderingthe additional item invisible through the door of the vehicle, whereproviding the user the access to a container in the vehicle through thedoor of the vehicle includes providing the user an access to the secondsection of the container.

Example 40 provides a method for autonomous delivery, the methodincluding providing a user an access to a receptacle in a vehiclethrough a door of the vehicle, wherein the receptacle is movablyattached to a container; retrieving first sensor data generated by asensor associated with the receptacle; detecting, based on the firstsensor data, placement of a first item into the receptacle; in responseto detecting the placement of the first item, providing an instruction,in a user interface associated with the container, to instruct the userto move the receptacle away from the door; subsequent to providing theinstruction, retrieving second sensor data generated by a sensorassociated with the container; detecting, based on the second sensordata, placement of a second item into the container; and subsequent todetecting the placement of the second item, providing an instruction inthe user interface to instruct the user to close the door of thevehicle.

OTHER IMPLEMENTATION NOTES, VARIATIONS, AND APPLICATIONS

It is to be understood that not necessarily all objects or advantagesmay be achieved in accordance with any particular embodiment describedherein. Thus, for example, those skilled in the art will recognize thatcertain embodiments may be configured to operate in a manner thatachieves or optimizes one advantage or group of advantages as taughtherein without necessarily achieving other objects or advantages as maybe taught or suggested herein.

In one example embodiment, any number of electrical circuits of thefigures may be implemented on a board of an associated electronicdevice. The board can be a general circuit board that can hold variouscomponents of the internal electronic system of the electronic deviceand, further, provide connectors for other peripherals. Morespecifically, the board can provide the electrical connections by whichthe other components of the system can communicate electrically. Anysuitable processors (inclusive of digital signal processors,microprocessors, supporting chipsets, etc.), computer-readablenon-transitory memory elements, etc. can be suitably coupled to theboard based on particular configuration needs, processing demands,computer designs, etc. Other components such as external storage,additional sensors, controllers for audio/video display, and peripheraldevices may be attached to the board as plug-in cards, via cables, orintegrated into the board itself. In various embodiments, thefunctionalities described herein may be implemented in emulation form assoftware or firmware running within one or more configurable (e.g.,programmable) elements arranged in a structure that supports thesefunctions. The software or firmware providing the emulation may beprovided on non-transitory computer-readable storage medium comprisinginstructions to allow a processor to carry out those functionalities.

It is also imperative to note that all of the specifications,dimensions, and relationships outlined herein (e.g., the number ofprocessors, logic operations, etc.) have only been offered for purposesof example and teaching only. Such information may be variedconsiderably without departing from the spirit of the presentdisclosure, or the scope of the appended claims. The specificationsapply only to one non-limiting example and, accordingly, they should beconstrued as such. In the foregoing description, example embodimentshave been described with reference to particular arrangements ofcomponents. Various modifications and changes may be made to suchembodiments without departing from the scope of the appended claims. Thedescription and drawings are, accordingly, to be regarded in anillustrative rather than in a restrictive sense.

Note that with the numerous examples provided herein, interaction may bedescribed in terms of two, three, four, or more components. However,this has been done for purposes of clarity and example only. It shouldbe appreciated that the system can be consolidated in any suitablemanner. Along similar design alternatives, any of the illustratedcomponents, modules, and elements of the figures may be combined invarious possible configurations, all of which are clearly within thebroad scope of this Specification.

Note that in this Specification, references to various features (e.g.,elements, structures, modules, components, steps, operations,characteristics, etc.) included in “one embodiment”, “exampleembodiment”, “an embodiment”, “another embodiment”, “some embodiments”,“various embodiments”, “other embodiments”, “alternative embodiment”,and the like are intended to mean that any such features are included inone or more embodiments of the present disclosure, but may or may notnecessarily be combined in the same embodiments.

Numerous other changes, substitutions, variations, alterations, andmodifications may be ascertained to one skilled in the art and it isintended that the present disclosure encompass all such changes,substitutions, variations, alterations, and modifications as fallingwithin the scope of the appended claims. Note that all optional featuresof the systems and methods described above may also be implemented withrespect to the methods or systems described herein and specifics in theexamples may be used anywhere in one or more embodiments.

In order to assist the United States Patent and Trademark Office (USPTO)and, additionally, any readers of any patent issued on this applicationin interpreting the claims appended hereto, Applicant wishes to notethat the Applicant: (a) does not intend any of the appended claims toinvoke paragraph (f) of 35 U.S.C. Section 112 as it exists on the dateof the filing hereof unless the words “means for” or “step for” arespecifically used in the particular claims; and (b) does not intend, byany statement in the Specification, to limit this disclosure in any waythat is not otherwise reflected in the appended claims.

What is claimed is:
 1. A method for autonomous delivery, the methodcomprising: providing a user an access to a container in a vehiclethrough a door of the vehicle; retrieving sensor data generated by asensor associated with the container; detecting, based on the sensordata, removal of an item from the container; and subsequent to detectingthe removal of the item, providing an instruction, in a user interfaceassociated with the container, to instruct the user to close the door ofthe vehicle.
 2. The method of claim 1, wherein a receptacle is movablyattached to the container, further comprising: in response to detectingthe removal of the item, providing an indicator to the user through theuser interface, the indicator informing the user to move the receptacletowards the door of the vehicle.
 3. The method of claim 2, furthercomprising: receiving, from the user through the user interface, arequest to move the receptacle towards the door of the vehicle; and inresponse to receiving the request from the user, commanding an actuatorto move the receptacle towards the door of the vehicle.
 4. The method ofclaim 3, wherein providing the indicator to the user through the userinterface comprises illuminating a button in the user interface; andreceiving, through the user interface, the request to move thereceptacle relative to the door of the vehicle comprises receiving aninteraction of the user with the button.
 5. The method of claim 1,wherein a divider is coupled to the container, divides the containerinto a first section and a second section with the item being in thefirst section and an additional item for an additional user being in thesecond section, and renders the additional item invisible from the doorof the vehicle, further comprising: subsequent to detecting the removalof the item, commanding an actuator to flip down the divider to make theadditional item visible through the door of the vehicle.
 6. The methodof claim 1, further comprising: subsequent to providing the user theaccess to the container in the vehicle through the door of the vehicle,providing an indicator to the user through a user interface, theindicator informing the user to remove the item from the container. 7.The method of claim 1, further comprising: in response to detecting theremoval of the item, providing an indicator to the user through a userinterface, the indicator informing the user that a delivery of the itemis completed.
 8. The method of claim 1, wherein providing the user theaccess to the container in the vehicle through the door of the vehiclecomprises: providing an indicator to the user through a user interface,the indicator informing the user to provide identification information;receiving, through a second sensor associated with the user interface,the identification information of the user; authenticating theidentification information of the user; and subsequent to authenticatingthe identification information of the user, providing the user theaccess to the container in the vehicle through the door of the vehicle.9. The method of claim 8, wherein the second sensor is a camera or ascanner.
 10. The method of claim 1, wherein providing the instruction,in the user interface associated with the container, to instruct theuser to close the door of the vehicle comprises: providing an indicatorin the user interface, the indicator informing the user of theinstruction and including light, text, sound, or some combinationthereof.
 11. A method for autonomous delivery, the method comprising:receiving a delivery request from an online system, the delivery requestcomprising a location associated with a user; retrieving first sensordata generated by a first sensor associated with a vehicle; determiningwhether the vehicle is at the location based on the first sensor data;in response to determining that the vehicle is at the location,commanding a motor of the vehicle to pause motion of the vehicle;providing the user an access to a container in the vehicle through adoor of the vehicle; retrieving second sensor data generated by a secondsensor associated with the container; detecting removal of an item fromthe container based on the second sensor data; and subsequent todetecting the removal of the item, commanding the motor of the vehicleto resume the motion of the vehicle.
 12. The method of claim 11, whereinthe container includes a user interface and a receptacle that is movablyattached to the container, further comprising: in response to detectingthe removal of the item, providing an indicator to the user through theuser interface, the indicator informing the user to move the receptacletowards the door of the vehicle.
 13. The method of claim 12, furthercomprising: receiving, from the user through the user interface, arequest to move the receptacle towards the door of the vehicle; and inresponse to receiving the request from the user, commanding an actuatorto move the receptacle towards the door of the vehicle.
 14. The methodof claim 13, wherein providing the indicator to the user through theuser interface comprises illuminating a button in the user interface;and receiving, through the user interface, the request to move thereceptacle towards the door of the vehicle comprises receiving aninteraction of the user with the button.
 15. The method of claim 11,wherein subsequent to detecting the removal of the item, commanding themotor of the vehicle to resume the motion of the vehicle comprises:providing an indicator to the user through a user interface, theindicator informing the user to close the door; retrieving third sensordata generated by a third sensor associated with the door; detectingwhether the door has been closed based on the third sensor data; and inresponse to determining that the door has been closed, resuming themotion of the vehicle.
 16. The method of claim 11, wherein providing theuser the access to the container in the vehicle through the door of thevehicle comprises: providing an indicator to the user through a userinterface, the indicator informing the user to provide identificationinformation; receiving, through a third sensor associated with the userinterface, the identification information of the user; authenticatingthe identification information of the user; and subsequent toauthenticating the identification information of the user, providing theuser the access to the container in the vehicle through the door of thevehicle.
 17. The method of claim 11, wherein the delivery requestfurther comprises an item description, further comprising: determining,based on the second sensor data, whether the item removed from thecontainer matches the item description in the delivery request; andsubsequent to determining that the item removed from the containermatches the item description in the delivery request, commanding themotor of the vehicle to resume the motion of the vehicle.
 18. The methodof claim 11, further comprising: generating one or more indicators forproviding information associated with removing the item from thecontainer to the user; and providing the one or more indicators to theuser through a user interface associated with the container.
 19. Themethod of claim 11, wherein a divider is coupled to the container,divides the container into a first section and a second section with theitem being in the first section and an additional item for an additionaluser being in the second section, and renders the additional iteminvisible from the door of the vehicle, further comprising: receiving anadditional delivery request, the delivery request specifying delivery ofthe additional item to the additional user; and subsequent to detectingthe removal of the item, commanding an actuator to flip down the dividerto make the additional item visible through the door of the vehicle. 20.A method for autonomous delivery, the method comprising: providing auser an access to a container in a vehicle through a door of thevehicle, wherein a first item is present in the container and a seconditem is present in a receptacle that is movably attached to thecontainer; retrieving first sensor data generated by a sensor associatedwith the container; detecting, based on the first sensor data, removalof the first item from the container; in response to detecting theremoval of the first item, providing an instruction, in a user interfaceassociated with the container, to instruct the user to move thereceptacle towards the door; subsequent to providing the instruction,retrieving second sensor data generated by a sensor associated with thereceptacle; detecting, based on the second sensor data, removal of thesecond item from the receptacle; and subsequent to detecting the removalof the second item, providing an instruction in the user interface toinstruct the user to close the door of the vehicle.